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公开(公告)号：US11182627B2
公开(公告)日：2021-11-23
申请号：US16574395
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: a detection unit which detects partition line candidates that are candidates for a partition line for partitioning a parking frame, based on edge lines that are detected based on luminance of each pixel of image data taken by shooting a neighborhood of a vehicle; and a generation unit which generates an integrated partition line candidate by integrating the partition line candidates detected by the detection unit, according to a prescribed integration condition.
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公开(公告)号：US11385254B2
公开(公告)日：2022-07-12
申请号：US16693838
申请日：2019-11-25
申请人： DENSO TEN Limited
摘要： A movement distance calculation device includes: a first movement distance calculation unit which calculates a first movement distance of a movable body based on plural rotation speeds of plural wheels of the movable body and a steering angle of the movable body; a vector detection unit which detects a movement vector of an object included in the acquired images as defined herein; a second movement distance calculation unit which calculates a second movement distance of the movable body based on the movement vector; a first reliability determining unit which determines reliability of the calculated first movement distance as defined herein; a second reliability determining unit which determines reliability of the calculated second movement distance as defined herein; and a movement distance determining unit which determines a movement distance using at least one of the calculated first movement distance and the calculated second movement distance as defined herein.
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公开(公告)号：US11256933B2
公开(公告)日：2022-02-22
申请号：US16574450
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle; an exclusion determination unit configured to determine whether there is a parking-unavailable area in which parking of the vehicle is not permitted; and a parking space detection unit configured to detect the parking space based on the delimiting line candidate. In a case where plural parallel lines that are adjacent to the delimiting line candidate and that have a predetermined angle to the delimiting line candidate is detected, the exclusion determination unit regards an area in which the plural parallel lines are provided as the parking-unavailable area, and prohibits the parking space detection unit from detecting the parking space across the delimiting line candidate adjacent to the parking-unavailable area.
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公开(公告)号：US11195032B2
公开(公告)日：2021-12-07
申请号：US16574393
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and an exclusion determination unit configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from the candidate of the delimiting line. In a case where a plurality of the delimiting line candidates is detected within a predetermined range in the image data, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from the candidate of the delimiting line by comparing edge strength of the plurality of delimiting line candidates.
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公开(公告)号：US11250290B2
公开(公告)日：2022-02-15
申请号：US16574462
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: an extraction unit which extracts, from image data taken by shooting a neighborhood of a vehicle, edge points that are to be used for detecting partition lines of a parking frame and whose edge intensity values are larger than an edge threshold value; and a correction unit which corrects the edge threshold value based on a density of the edge points extracted by the extraction unit.
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公开(公告)号：US11157757B2
公开(公告)日：2021-10-26
申请号：US16574503
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: an extraction unit which extracts a horizontal edge line in which edge points are arranged consecutively in a horizontal direction from an image taken that contains an image of a parking frame; a detection unit which detects a three-dimensional indication body to serve as a stop position indication body in the parking frame based on the horizontal edge line extracted by the extraction unit; and a determining unit which, in a case where a plurality of the horizontal edge lines are arranged in a vertical direction in an image of the three-dimensional indication body detected by the detection unit, determines the stop position regarding one of the plurality of the horizontal edge lines other than a highest horizontal edge line in the vertical direction as corresponding to a top end line of the three-dimensional indication body.
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公开(公告)号：US10949686B2
公开(公告)日：2021-03-16
申请号：US16574598
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: an extraction unit which extracts a horizontal edge line in which edge points are arranged consecutively in a horizontal direction from an image taken that contains an image of a parking frame; a detection unit which detects, in a case where an edge length of a series edge line in which a plurality of the horizontal edge lines are arranged in the horizontal direction like a broken line is longer than or equal to a prescribed threshold value among a plurality of the horizontal edge lines extracted by the extraction unit, the series edge line as corresponding to a deep-side boundary line of a parking frame; and a determining unit which determines a stop position in the parking frame based on the boundary line detected by the detection unit.
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公开(公告)号：US10896336B2
公开(公告)日：2021-01-19
申请号：US16412511
申请日：2019-05-15
申请人： DENSO TEN Limited
摘要： To provide a parking space recognition apparatus that can reduce a processing load for detecting the parking space. The parking space recognition apparatus recognizes a parking space by using images generated by four cameras to be mounted on a vehicle. In the parking space recognition apparatus, an image acquisition part acquires the images generated by the cameras. A detection setter selects the cameras to be used for detecting the parking space from among the cameras based on a traveling state of the vehicle. A parking space detector acquires the images generated by the cameras selected by the detection setter from the image acquisition part, and detects the parking space from the acquired images.
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公开(公告)号：US11145041B2
公开(公告)日：2021-10-12
申请号：US16574516
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: a setting unit configured to set an area, as a first area, in which at least one delimiting line for delimiting a parking space is detected in a first image of plural images continuously captured while moving; and a prediction unit configured to predict, based on the first area, a second area in which the at least one delimiting line is to be detected in at least one second image of the plural images, the at least one second image being captured later in time than the first image.
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公开(公告)号：US11138450B2
公开(公告)日：2021-10-05
申请号：US16574499
申请日：2019-09-18
申请人： DENSO TEN Limited
发明人： Yasutaka Okada , Hiroaki Sano , Tetsuo Yamamoto , Atsushi Yoshihara , Jun Kanetake , Ryo Yoshimura , Tomoki Shidori
摘要： An image processing device includes: an extraction unit configured to extract at least one edge line based on image data obtained by an imaging device configured to capture a surrounding of a vehicle; a giving unit configured to give a priority to each of the at least one edge line; a registration unit configured to register the at least one edge line in descending order of the priority while limiting a number of registration of the at least one edge line to an upper limit or smaller of the number of registration; and a detection unit configured to detect a parking space, based on the at least one edge line registered.
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